Mathematics is playing an ever more important role in the physical and
biologi- cal sciences, provoking a blurring of boundaries between
scientific disciplines and a resurgence of interest in the modem as well
as the classical techniques of applied mathematics. This renewal of
interest, both in research and teaching, has led to the establishment of
the series Texts in Applied Mathematics (TAM). The development of new
courses is a natural consequence of a high level of excitement on the
research frontier as newer techniques, such as numerical and symbolic
computer systems, dynamical systems, and chaos, mix with and rein- force
the traditional methods of applied mathematics. Thus, the purpose of
this textbook series is to meet the current and future needs of these
advances and to encourage the teaching of new courses. TAM will publish
textbooks suitable for use in advanced undergraduate and beginning
graduate courses, and will complement the Applied Mathematics Sci- ences
(AMS) series, which will focus on advanced textbooks and research-level
monographs. v Preface This textbook introduces the basic concepts and
results of mathematical control and system theory. Based on courses that
I have taught during the last 15 years, it presents its subject in a
self-contained and elementary fashion. It is geared primarily to an
audience consisting of mathematically mature advanced undergraduate or
beginning graduate students. In addi- tion, it can be used by
engineering students interested in a rigorous, proof- oriented systems
course that goes beyond the classical frequency-domain material and more
applied courses.